EP3521859A1 - Capteur photoélectrique trigonométrique - Google Patents

Capteur photoélectrique trigonométrique Download PDF

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Publication number
EP3521859A1
EP3521859A1 EP18213050.0A EP18213050A EP3521859A1 EP 3521859 A1 EP3521859 A1 EP 3521859A1 EP 18213050 A EP18213050 A EP 18213050A EP 3521859 A1 EP3521859 A1 EP 3521859A1
Authority
EP
European Patent Office
Prior art keywords
light
receiver
transmitter
light receiver
triangulation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18213050.0A
Other languages
German (de)
English (en)
Other versions
EP3521859B1 (fr
Inventor
Kai Waslowski
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sick AG
Original Assignee
Sick AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sick AG filed Critical Sick AG
Publication of EP3521859A1 publication Critical patent/EP3521859A1/fr
Application granted granted Critical
Publication of EP3521859B1 publication Critical patent/EP3521859B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/04—Systems determining the presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/181—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using active radiation detection systems
    • G08B13/183—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using active radiation detection systems by interruption of a radiation beam or barrier

Definitions

  • the present invention relates to a triangulation light sensor according to the preamble of claim 1.
  • Such a triangulation probe comprises a light transmitter, for example a light-emitting diode or a laser, and, if appropriate, a transmitting optics in order to emit a transmitted light beam into a detection zone to an object which may be located there.
  • the transmitted light may be remitted from such an object, i. diffused or specularly reflected and detected by a light receiver, which forms a receiving unit together with a receiving optics.
  • the light receiver consists in known solutions of at least one row of photosensitive receiving elements.
  • the position of a light spot generated by the remitted light on the light receiver changes in the so-called triangulation direction.
  • the distance between the object and the light sensor can thus be determined.
  • it can be determined on appropriate evaluation of the light distribution on the light receiver, whether an object is within or outside a predetermined, also referred to as detection range limit.
  • such a light receiver In order to achieve in particular a high accuracy in determining the distance, such a light receiver must have a plurality of photosensitive receiving elements which are arranged side by side in the triangulation direction.
  • the light receiver comprises at least two receiving elements, a so-called near element being arranged to be struck by a light beam when reflected by an object located within a near range in front of the triangulation light switch.
  • the far-end region is further away from the triangulation probe than the near-end region. For signal evaluation, a difference between the photodiode currents of these two areas is formed.
  • a transmit pulse generator generates a periodic digital drive signal for the transmit stage.
  • the drive signal can, for. B. consist of simple or complex pulse patterns.
  • the transmission stage generates a time-varying transmission current from the digital drive signal. The amplitude of the transmission current is usually parameterizable.
  • the transmission diode converts the transmission current into optical power.
  • the transmission optics include a transmission tube, aperture, a transmitting lens and a front screen.
  • the monitoring space contains the entire space to be monitored in front of the sensor and may contain the object to be detected, a background object, a reflector or other, even disturbing objects such as mirrors, lamps or extraneous light sources.
  • a receiver optic includes a receiver tube, apertures, a receiver lens and the windscreen.
  • the receiver elements are a plurality of photodiodes for converting optical power into electricity and are e.g. B. arranged as a line.
  • An evaluation circuit calculates an object detection signal from the time profile of the signal of the receiver elements and the knowledge about the drive signals of the transmission stage. The object detection signal is output via a physical switching output.
  • this light barrier is used in the embodiment of a light sensor, then it should be recognized whether an object is located on the transmission axis within a previously defined distance, namely in the monitoring area.
  • This object can be z. B. to act a person. If this person could be injured within the surveillance area by the action of a machine and the photocell reduce this risk by switching off the machine, then the safety of the entire system of machine, control and light barrier must be considered. This consideration is simplified when the photocell monitors its function itself and switches to the safe state in the event of a fault.
  • the cited prior art has the disadvantage that the entire signal flow passes through the monitoring area. It is therefore not possible to test the blocks transmitting stage, transmitting diode, transmitting optics, receiving optics and receiver elements without a well-known well-known monitoring area.
  • the problem can be solved by cyclically introducing a reference object into the beam path and in this state, the block monitoring space is well defined.
  • this operating state z. B. the output signals of the receiver elements and / or downstream blocks are compared in the evaluation circuit with reference signals. In case of deviations is switched to a safe state.
  • An object of the invention is to provide a safe triangulation light scanner in the sense of machine safety.
  • a triangulation light scanner having a first light transmitter for emitting transmitted light into a detection zone, wherein the light transmitter is preceded by transmitting optics, in particular a lens, an array of receiving elements having first light receiver for receiving light from the detection zone is remitted from an object to be detected, wherein the receiving elements generate respective received signals, arranged in the beam path between the detection zone and the first light receiver receiving optics for generating a light spot from the remitted light on the first light receiver, wherein the position of the light spot on the first light receiver in the Triangulationsraum depending on the distance of the object results, and a control and evaluation unit for generating a detection signal from the received signals on the basis of the position of the light spot on the first Lich tempfnatureer, wherein a further second light emitter is provided as a reference light transmitter (14) for safety-related self-testing.
  • the triangulation light scanner is a safety sensor.
  • a safety sensor should have the highest possible safety integrity level (SIL) according to IEC 61508 / IEC 61511.
  • Safety according to the present invention is safety in the sense of machine safety.
  • the standard EN / IEC 61496 regulates the requirements for a safe sensor or a safe non-contact protective device (ESPE) for the protection of hazardous areas.
  • Machine safety is regulated in the standard EN13849.
  • the safety is ensured, for example, by a two-channel or two-channel diversitpertaining structure of the control and evaluation unit for fault detection and functional testing.
  • the distance measuring Triangulationslichttaster or distance sensor according to the present invention for example, intrinsically safe and detects internal errors. When an error is detected, for example, an error signal is generated.
  • the triangulation light sensor or distance sensor has a sensor test.
  • the present triangulation light sensor has self-monitoring through internal reference paths.
  • the control and evaluation unit detects objects in the detection zone or protective field violations by an object or a person and can output a safety-related shutdown signal to stop a dangerous movement of a machine or a vehicle or a part of a machine or the machine that is part of Braking machine or the vehicle.
  • This can z. B. via secure switching signals e.g. OSSD signals (output safety switching device signals) or safe distance data, distance data or safe location data of the intervention event can be realized.
  • a second light transmitter is provided as a reference light transmitter for safety-related self-testing.
  • the reference light transmitter can be integrated to test the light receiver next to the light receiver. In this way, a test of the receiving channel on the timing or timing and signal level-dependent effects can be performed.
  • the reference light transmitter is preferably mounted close to the light receiver and illuminates the light receiver.
  • the transmission power of the reference light transmitter is set, for example, such that the signal height corresponds to the actual reception signals of the light receiver. The same applies to the time course of the transmission signal of the reference light transmitter.
  • optical light intensities with different intensity gradients or amplitudes can be used.
  • overmodulation measurements can be carried out easily in this way.
  • An adjustable signal level of the reference light transmitter allows the dynamics of the light receiver to be tested.
  • the reference light transmitter can be constructed with a lower-power and therefore more cost-effective transmitter diode, since due to the spatial proximity a lower transmission power is sufficient to produce comparable signals on the receiver.
  • the dynamics and sensitivity of the light receiver can be checked.
  • the measurements can also be used to compensate for aging effects or degradation or to compensate for temperature effects.
  • additional reference targets are arranged for this purpose, for example, and the corresponding measuring signals are measured cyclically once.
  • all receiving elements of the light receiver can be tested, since all receiving elements can be charged with the light of the reference light transmitter.
  • the receiving elements are connected in groups to one multiplexer each.
  • There are a plurality of multiplexers for example, six multiplexers are provided, each multiplexer having at the inputs a group of receiving elements and the output of the multiplexer is fed to a current / voltage converter or a transimpedance amplifier.
  • the outputs of the current / voltage converters are each fed to an analog / digital converter.
  • the outputs of the analog-to-digital converters are routed to digital filters, in particular filters with finite impulse response, short FIR filters.
  • FIR filters guarantee a finite-length impulse response. This means that no matter how the filter parameters are chosen, FIR filters can never become unstable or self-sustaining.
  • the signals of the filters are fed to the control and evaluation unit.
  • the control and evaluation unit is further connected to the light transmitter and the reference light transmitter to control this.
  • a first mirror is arranged in order to direct the light beams of the reference light transmitter onto the first light receiver.
  • the reference light transmitter and the light receiver can be arranged on one side and only a passive mirror is necessary as a deflection element.
  • the mirror can be integrated in the housing of the triangulation light scanner. The mirror may thus be a simple reflective surface of the housing.
  • a further second light receiver is provided as a reference light receiver as a second receiving channel for safety-related self-testing.
  • the reference light receiver is arranged next to the light emitter.
  • the reference light receiver can be designed as a photodiode.
  • the reference light receiver enables the following self-tests for functional testing of the triangulation light sensor.
  • the power, in particular the laser power of the light emitter in each measurement cycle can be monitored via scattered light within the housing of the triangulation light sensor in the reference light receiver. Large deviations or a failure of the light transmitter can be detected.
  • the precise timing of the light emitter can be monitored and any offsets that may occur can be corrected, e.g. B. at temperature influences.
  • the external light level can be measured at the reference light receiver.
  • the corresponding measurement signal can be compared with the signal of the light receiver, whereby the sensitivity of the light receiver can be verified and with optional other scaling can be used to check the necessary signal-to-noise ratio in the actual measurement channel.
  • a direct measurement of the external light level on the light receiver and possibly on the reference light receiver allow a good determination of the signal-to-noise ratio and enable a safety-related sensitivity of the system.
  • a second mirror is arranged to direct the light beams of the first light emitter onto the reference light receiver.
  • the light emitter and the reference light receiver can be arranged on one side and it is only a passive mirror as a deflection necessary.
  • the mirror can also be integrated in the housing of the triangulation light scanner. The mirror may thus be a simple reflective surface of the housing.
  • the first mirror and / or the second mirror is a concave mirror.
  • the second concave mirror which is provided for deflecting light between the light transmitter and reference light receiver, the light is focused on the reference light receiver.
  • the first concave mirror which is provided for deflecting light rays between reference light transmitter and light receiver
  • the light is expanded onto the receiving elements, so that all receiving elements of the light receiver can be illuminated by the reference light transmitter.
  • the first light receiver and the reference light emitter are arranged in a first tube, whereby the light receiver and the reference light emitter are spatially and optically associated, but the light emitter is arranged optically outside the first tube.
  • the first light emitter and the reference light receiver are arranged in a second tube, whereby the light emitter and the reference light receiver are spatially and optically associated, however, the light receiver is arranged optically outside the second tube.
  • the first light transmitter and the reference light transmitter are activated alternately, whereby a mutual influence is excluded.
  • a front screen is arranged in front of the transmitting optics and in front of the receiving optics, wherein the light of the reference light transmitter strikes the front pane and reflected light reaches the light receiver and / or that the Light of the first light emitter strikes the front screen and reflects reflected light on the reference light receiver.
  • a soiled windscreen of the light sensor can be detected by a change in the light by backscattering on the dirt particles on the windscreen.
  • FIG. 1 shows Triangulationslichttaster 1 with a first light emitter 2 for emitting transmitted light into a detection zone 3, the light emitter 2 is a transmitting optics, in particular a lens upstream, an array of receiving elements 5 having first light receiver 6 for receiving light from the detection zone 3, which of an object to be detected 7 is remitted, wherein the receiving elements 5 generate respective received signals, arranged in the beam path between detection zone 3 and first light receiver 6 receiving optics 8 for generating a light spot from the remitted light on the first light receiver 6, wherein the position of the light spot on the first light receiver 6 in the triangulation direction depending on the distance of the object 7, and a control and evaluation unit 9 for generating a detection signal from the reception signals based on the position of the light spot on the first light receiver 6, w ei another second light emitter 11 is provided as reference light transmitter 12 for safety-related self-testing.
  • the security is ensured for example by a two-channel or two-channel diverse construction of the control and evaluation unit 9 for fault detection and functional testing.
  • the control and evaluation unit 9 detects objects 7 in the detection zone 3 or protective field violations by an object 7 or a person and can output a safety-related shutdown signal or an object detection signal 25 in order to ensure a dangerous movement of a machine or a vehicle or a part of a machine stop or slow down the machine, the part of the machine or the vehicle.
  • This can z. B. via secure switching signals e.g. OSSD signals (Output Safety Switching Device signals) take place.
  • the reference light transmitter 12 can be integrated to test the light receiver 6 next to the light receiver 6.
  • the reference light transmitter 12 is here preferably mounted close to the light receiver 6 and illuminates the light receiver 6.
  • optical light intensities with different intensity gradients or amplitudes can be used.
  • An adjustable signal height of the reference light transmitter 12 allows the dynamics of the light receiver 6 to be tested.
  • the dynamics and the sensitivity of the light receiver 6 can be checked.
  • the receiving elements 5 are connected in groups to a respective multiplexer 21.
  • the outputs of the current / voltage converter 22 are each guided to an analog / digital converter 23.
  • the outputs of the analog / digital converters 23 are directed to digital filters, in particular filters with finite impulse response, short FIR filter 24.
  • the signals of the filters are fed to the control and evaluation unit 9.
  • the control and evaluation unit 9 is further connected to the first light emitter 2 and the reference light emitter 12 in order to control them.
  • a first mirror 13 is arranged to direct the light beams of the reference light transmitter 12 to the first light receiver 6.
  • the reference light transmitter 12 and the light receiver 6 can be arranged on one side and it is only a passive mirror 13 as a deflection necessary.
  • a second light receiver 14 is provided as a reference light receiver 15 as a second receiving channel for safety-related self-testing.
  • the reference light receiver 15 is arranged next to the first light emitter 2.
  • the reference light receiver 15 may be formed as a photodiode.
  • the reference light receiver 15 enables self-testing for the functional test of the triangulation light scanner 1.
  • a second mirror 16 is arranged to direct the light beams of the first light emitter 2 onto the reference light receiver 15.
  • the first mirror 13 and the second mirror 16 is a concave mirror 17.
  • the second concave mirror 17 which is provided for deflecting light between the light emitter 2 and reference light receiver 15, the light is focused on the reference light receiver 15.
  • the first concave mirror 17 which is provided for deflecting light rays between reference light transmitter 12 and light receiver 6, the light is expanded onto the receiving elements 5, so that all receiving elements 5 of the light receiver 6 can be illuminated by the reference light emitter 12.
  • the first light receiver 6 and the reference light emitter 12 are arranged in a first tube 18, whereby the light receiver 6 and the reference light emitter 12 are spatially and optically associated, but the first light emitter 2 is optically located outside the first tube 18.
  • the first light emitter 2 and the reference light receiver 15 are arranged in a second tube 19, whereby the light emitter 2 and the reference light receiver 15 are arranged spatially and optically associated, but the light receiver 6 is optically disposed outside of the second tube 19.
  • the first light emitter 2 and the reference light emitter 12 are activated alternately, thereby precluding mutual interference.
  • a front screen 20 is arranged in front of the transmitting optics 4 and in front of the receiving optics 8, wherein the light of the reference light emitter 12 strikes the front window 20 and reflected light reaches the light receiver 6 and / or the light of the first light emitter 2 strikes the front window 20 and reflected light hits the reference light receiver 15.
  • FIG. 2 shows the Triangulationslichttaster in a schematic representation to form an object detection signal 25.
  • the light of the reference light receiver 15 passes directly to the receiving elements 5.
  • the light of the first light emitter 2 passes directly to the reference light receiver 15.
  • the reference light receiver 15 and the receiving elements are connected via electronic stages with the control and evaluation unit 9, which generates the object detection signal 25.
  • the light of the first light transmitter 2 passes via the transmitting optics 4 in the detection zone 3 and from there via an object to the receiving optics 8 and then to the receiving elements. 5

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Measurement Of Optical Distance (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
EP18213050.0A 2018-02-02 2018-12-17 Capteur photoélectrique trigonométrique Active EP3521859B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102018102402.9A DE102018102402A1 (de) 2018-02-02 2018-02-02 Triangulationslichttaster

Publications (2)

Publication Number Publication Date
EP3521859A1 true EP3521859A1 (fr) 2019-08-07
EP3521859B1 EP3521859B1 (fr) 2020-08-05

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP18213050.0A Active EP3521859B1 (fr) 2018-02-02 2018-12-17 Capteur photoélectrique trigonométrique

Country Status (4)

Country Link
US (1) US11372107B2 (fr)
EP (1) EP3521859B1 (fr)
CN (1) CN110132227B (fr)
DE (1) DE102018102402A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019115792B4 (de) * 2019-06-11 2024-05-02 Sick Ag Triangulationslichttaster
JP2021143879A (ja) * 2020-03-10 2021-09-24 オムロン株式会社 光電センサ及び検出方法

Citations (4)

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DE102006032113C5 (de) * 2006-07-11 2010-01-28 Pepperl + Fuchs Gmbh Optischer Triangulationssensor und Verfahren zum Testen eines optischen Triangulationssensors
EP2199999A1 (fr) * 2008-12-19 2010-06-23 Pepperl + Fuchs GmbH Procédé de test d'un capteur optique et capteur optique pouvant être testé
EP2637036A1 (fr) * 2012-03-07 2013-09-11 Sick Ag Module complémentaire destiné au montage sur un capteur optique et procédé de fonctionnement d'un capteur optique
EP3091272A1 (fr) * 2015-05-05 2016-11-09 Sick Ag Barrière lumineuse

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US4943157A (en) * 1989-05-18 1990-07-24 Corning Incorporated Fiber optic triangulation gage
PL175757B1 (pl) * 1994-03-03 1999-02-26 Geberit Technik Ag Urządzenie do bezdotykowego sterowania instalacją sanitarną
DE4427724C2 (de) * 1994-08-05 1998-07-02 Koch Alexander W Prof Dr Ing H Verfahren und Vorrichtung zum Messen einer winkelabhängigen Größe
US5870178A (en) * 1996-02-20 1999-02-09 Canon Kabushiki Kaisha Distance measuring apparatus
DE10059156A1 (de) * 2000-11-29 2002-06-06 Sick Ag Abstandsbestimmung
DE102006007764A1 (de) * 2006-02-20 2007-08-23 Sick Ag Optoelektronische Vorrichtung und Verfahren zu deren Betrieb
US10354407B2 (en) * 2013-03-15 2019-07-16 Spatial Cam Llc Camera for locating hidden objects
EP2629050B2 (fr) * 2012-02-16 2017-02-15 Sick AG Capteur de triangulation
DE102012215660B4 (de) * 2012-09-04 2014-05-08 Robert Bosch Gmbh Optische Gassensorvorrichtung und Verfahren zum Bestimmen der Konzentration eines Gases
DE202014005508U1 (de) * 2014-07-02 2014-10-09 Robert Bosch Gmbh Entfernungsmessvorrichtung
CN107003122A (zh) * 2014-12-09 2017-08-01 巴斯夫欧洲公司 光学检测器
US9506744B2 (en) * 2014-12-16 2016-11-29 Faro Technologies, Inc. Triangulation scanner and camera for augmented reality
EP3499267B1 (fr) * 2017-12-13 2020-02-19 Sick Ag Capteur photoélectrique trigonométrique

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
DE102006032113C5 (de) * 2006-07-11 2010-01-28 Pepperl + Fuchs Gmbh Optischer Triangulationssensor und Verfahren zum Testen eines optischen Triangulationssensors
EP2199999A1 (fr) * 2008-12-19 2010-06-23 Pepperl + Fuchs GmbH Procédé de test d'un capteur optique et capteur optique pouvant être testé
EP2637036A1 (fr) * 2012-03-07 2013-09-11 Sick Ag Module complémentaire destiné au montage sur un capteur optique et procédé de fonctionnement d'un capteur optique
EP3091272A1 (fr) * 2015-05-05 2016-11-09 Sick Ag Barrière lumineuse

Also Published As

Publication number Publication date
CN110132227B (zh) 2021-11-16
US11372107B2 (en) 2022-06-28
EP3521859B1 (fr) 2020-08-05
US20190242998A1 (en) 2019-08-08
CN110132227A (zh) 2019-08-16
DE102018102402A1 (de) 2019-08-08

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